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    How to synchronize and register an optical-inertial tracking system

    , Article Applied Mechanics and Materials ; Volume 332 , 2013 , Pages 130-136 ; 16609336 (ISSN) ; 9783037857335 (ISBN) Soroush, A ; Akbar, M ; Farahmand, F ; Sharif University of Technology
    2013
    Abstract
    Multi-sensor tracking is widely used for augmentation of tracking accuracy using data fusion. A basic requirement for such applications is the real time temporal synchronization and spatial registration of two sensory data. In this study a new method for time and space coordination of two tracking sensor measurements has been presented. For spatial registration we used a body coordinate system and then applied the effect of the level arm. The time synchronization was done based on least mean square (LMS) error method. This method was implemented to synchronize the position and orientation of an object using Inertial (1IMU) and Optical (Optotrak) tracking systems. The results of synchronized... 

    Design and implementation of an improved real-time tracking system for navigation surgery by fusion of optical and inertial tracking methods

    , Article Applied Mechanics and Materials ; Volume 186 , 2012 , Pages 273-279 ; 16609336 (ISSN) ; 9783037854440 (ISBN) Soroush, A ; Farahmand, F ; Salarieh, H ; Sharif University of Technology
    2012
    Abstract
    The fusion of the optical and inertial tracking systems seems an attractive solution to solve the shadowing problem of the optical tracking systems, and remove the time integration troubles of the inertial sensors. We developed a fusion algorithm for this purpose, based on the Kalman filter, and examined its efficacy to improve the position and orientation data, obtained by each individual system. Experimental results indicated that the proposed fusion algorithm could effectively estimate the 2 seconds missing data of the optical tracker  

    Human arm motion tracking by inertial/magnetic sensors using unscented Kalman filter and relative motion constraint

    , Article Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 90, Issue 1-2 , May , 2018 , Pages 161-170 ; 09210296 (ISSN) Atrsaei, A ; Salarieh, H ; Alasty, A ; Abediny, M ; Sharif University of Technology
    Springer Netherlands  2018
    Abstract
    Human motion tracking has many applications in biomedical and industrial services. Low-cost inertial/magnetic sensors are widely used in human motion capture systems to obtain the orientation of the human body segments. In this paper, we have presented a quaternion-based unscented Kalman filter algorithm to fuse inertial/magnetic sensors measurements for tracking human arm movements. In order to have a better estimation of the orientation of the forearm and the upper arm, a constraint equation was developed based on the relative velocity of the elbow joint with respect to the inertial sensors attached to the forearm and the upper arm. Also to compensate for fast body motions, we adapted the... 

    Human arm motion tracking by inertial/magnetic sensors using unscented kalman filter and relative motion constraint

    , Article Journal of Intelligent and Robotic Systems: Theory and Applications ; 2017 , Pages 1-10 ; 09210296 (ISSN) Atrsaei, A ; Salarieh, H ; Alasty, A ; Abediny, M ; Sharif University of Technology
    Abstract
    Human motion tracking has many applications in biomedical and industrial services. Low-cost inertial/magnetic sensors are widely used in human motion capture systems to obtain the orientation of the human body segments. In this paper, we have presented a quaternion-based unscented Kalman filter algorithm to fuse inertial/magnetic sensors measurements for tracking human arm movements. In order to have a better estimation of the orientation of the forearm and the upper arm, a constraint equation was developed based on the relative velocity of the elbow joint with respect to the inertial sensors attached to the forearm and the upper arm. Also to compensate for fast body motions, we adapted the...